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US10398449B2 - Systems and methods for haptic control of a surgical tool - Google Patents

Systems and methods for haptic control of a surgical tool Download PDF

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Publication number
US10398449B2
US10398449B2 US13/725,348 US201213725348A US10398449B2 US 10398449 B2 US10398449 B2 US 10398449B2 US 201213725348 A US201213725348 A US 201213725348A US 10398449 B2 US10398449 B2 US 10398449B2
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United States
Prior art keywords
haptic
surgical
virtual
surgical tool
boundary
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US13/725,348
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English (en)
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US20140180290A1 (en
Inventor
Jason Otto
Radu IORGULESCU
Chris Lightcap
Brian Schmitz
Jason Wojcik
Carinne Cecile Granchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mako Surgical Corp
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Mako Surgical Corp
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Priority to US13/725,348 priority Critical patent/US10398449B2/en
Application filed by Mako Surgical Corp filed Critical Mako Surgical Corp
Priority to JP2015549814A priority patent/JP6498609B2/ja
Priority to PCT/US2013/077154 priority patent/WO2014100697A1/en
Priority to EP13821350.9A priority patent/EP2941215B1/de
Priority to CA2894898A priority patent/CA2894898A1/en
Priority to AU2013364141A priority patent/AU2013364141B2/en
Priority to CN201380066667.5A priority patent/CN104918573B/zh
Priority to CN201910114159.9A priority patent/CN109567937B/zh
Assigned to MAKO SURGICAL CORP. reassignment MAKO SURGICAL CORP. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: LIGHTCAP, CHRIS, GRANCHI, Carinne Cecile, IORGULESCU, RADU, OTTO, JASON, SCHMITZ, BRIAN, WOJCIK, JASON
Publication of US20140180290A1 publication Critical patent/US20140180290A1/en
Priority to US14/824,867 priority patent/US20150342691A1/en
Priority to US15/611,436 priority patent/US10595880B2/en
Priority to JP2018223343A priority patent/JP6787978B2/ja
Priority to US16/538,154 priority patent/US11259816B2/en
Application granted granted Critical
Publication of US10398449B2 publication Critical patent/US10398449B2/en
Priority to US16/786,146 priority patent/US11278296B2/en
Priority to JP2020181563A priority patent/JP7091419B2/ja
Priority to US17/580,889 priority patent/US11857200B2/en
Priority to US17/666,779 priority patent/US11857201B2/en
Priority to JP2022096536A priority patent/JP7397129B2/ja
Priority to US18/512,830 priority patent/US12150652B2/en
Priority to JP2023203015A priority patent/JP2024020593A/ja
Priority to US18/914,732 priority patent/US20250032126A1/en
Priority to US18/958,814 priority patent/US20250082342A1/en
Priority to JP2025121848A priority patent/JP2025137680A/ja
Active legal-status Critical Current
Adjusted expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/14—Surgical saws
    • A61B17/15—Guides therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/14—Surgical saws
    • A61B17/142—Surgical saws with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1615—Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1703—Guides or aligning means for drills, mills, pins or wires using imaging means, e.g. by X-rays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/14—Surgical saws
    • A61B17/15—Guides therefor
    • A61B17/154—Guides therefor for preparing bone for knee prosthesis
    • A61B17/157—Cutting tibia
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00128—Electrical control of surgical instruments with audible or visual output related to intensity or progress of surgical action
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety

Definitions

  • a surgical plan is typically developed prior to performing a surgical procedure with a haptic device.
  • the surgical plan may be patient-specific.
  • the surgical system guides or limits movements of the surgical tool during portions of the surgical procedure. Control of the surgical tool serves to protect the patient and to assist the surgeon during implementation of the surgical plan.
  • the surgical system includes a surgical tool associated with a virtual haptic interaction point, wherein movement of the virtual haptic interaction point corresponds to movement of the surgical tool.
  • the surgical system further includes a processing circuit configured to establish a virtual entry boundary and activate a haptic object, wherein the activated haptic object is configured to constrain the haptic interaction point after the haptic interaction point crosses the virtual entry boundary.
  • FIGS. 8A-8E illustrate entry and exit from haptic control when the tool axis is perpendicular to the haptic object, according to an exemplary embodiment.
  • FIGS. 13A-13D illustrate entry and exit from haptic control when the haptic object is a three-dimensional volume, according to an exemplary embodiment.
  • the trackable element is affixed to the tracked object in a secure and stable manner and includes an array of markers having a known geometric relationship to the tracked object.
  • the trackable elements may be active (e.g., light emitting diodes or LEDs) or passive (e.g., reflective spheres, a checkerboard pattern, etc.) and have a unique geometry (e.g., a unique geometric arrangement of the markers) or, in the case of active, wired markers, a unique firing pattern.
  • the detection device 12 detects positions of the trackable elements, and the surgical system 100 (e.g., the detection device 12 using embedded electronics) calculates a pose of the tracked object based on the trackable elements' positions, unique geometry, and known geometric relationship to the tracked object.
  • the navigation system 10 includes a trackable element for each object the user desires to track, such as the navigation marker 14 located on the tibia 2 , navigation marker 16 located on the femur 4 , haptic device marker 18 (to track a global or gross position of the haptic device 30 ), and an end effector marker 19 (to track a distal end of the haptic device 30 ).
  • the computer 20 is configured to communicate with the navigation system 10 and the haptic device 30 . Furthermore, the computer 20 may receive information related to surgical procedures and perform various functions related to performance of surgical procedures. For example, the computer 20 may have software as necessary to perform functions related to image analysis, surgical planning, registration, navigation, image guidance, and haptic guidance.
  • the haptic device 30 includes a base 32 , a robotic arm 34 , and a surgical tool 36 coupled to the robotic arm 34 .
  • the surgical tool may be any surgical tool that can be coupled to the robotic arm 34 .
  • the surgical tool 36 is a spherical burr.
  • the surgical tool 36 may also be a sagittal saw 38 , shown in FIG. 2A , or sagittal saw 40 , shown in FIG. 2B .
  • the blade 39 of sagittal saw 38 is aligned parallel to tool axis 42
  • the blade 39 of sagittal saw 40 is aligned perpendicular to tool axis 42 .
  • the surgeon can choose between a spherical burr, sagittal saw 38 , sagittal saw 40 , or any other type of surgical tool depending on the type of bone modification (e.g. hole, planar cut, curved edge, etc.) the surgeon desires to make.
  • a spherical burr e.g., sagittal saw 38 , sagittal saw 40 , or any other type of surgical tool depending on the type of bone modification (e.g. hole, planar cut, curved edge, etc.) the surgeon desires to make.
  • haptic device 30 has two modes of operation. In free mode, the surgeon can substantially freely manipulate the pose of the surgical tool 36 . In haptic control mode, one or more haptic objects 52 are activated. The haptic object 52 can constrain the surgical tool 36 as described in various embodiments herein.
  • the patient's anatomy Prior to performance of the surgical procedure, the patient's anatomy is registered to the virtual bone model 45 of the patient's anatomy by any known registration technique.
  • One possible registration technique is point-based registration, as described in U.S. Pat. No. 8,010,180, titled “Haptic Guidance System and Method,” granted Aug. 30, 2011, and hereby incorporated by reference herein in its entirety.
  • registration may be accomplished by 2D/3D registration utilizing a hand-held radiographic imaging device, as described in U.S. application Ser. No. 13/562,163, titled “Radiographic Imaging Device,” filed Jul. 30, 2012, and hereby incorporated by reference herein in its entirety. Registration of the patient's anatomy allows for accurate navigation and haptic control during the surgical procedure.
  • HIP 60 can represent one or more HIPs, and any calculations or processes based on HIP 60 include calculations or processes based on multiple HIPs.
  • entry boundary 50 is a virtual boundary created during development of the surgical plan. Interactions between HIP 60 and the entry boundary 50 trigger the haptic device 30 to switch from free mode to “automatic alignment mode,” a stage of haptic control described more fully below.
  • the entry boundary 50 represents a working boundary in the vicinity of the patient's anatomy, and is designed and positioned such that the surgeon is able to accurately guide the surgical tool 36 to the working boundary when the haptic device 30 is in free mode.
  • the entry boundary 50 may, but does not necessarily, enclose a portion of a haptic object 52 . For example, in FIG. 5A , entry boundary 50 encloses a portion of haptic object 52 .
  • FIG. 5A presents a cross-section of the virtual environment.
  • entry boundary 50 is pill-shaped and encloses a three-dimensional volume.
  • the pill-shaped entry boundary 50 has a cylindrical portion with a radius R (shown in FIG. 7A ) and two hemispherical ends also having radius R (not shown).
  • a target line 54 forms the cylinder axis (perpendicular to the page in FIG. 5A ).
  • the target line 54 passes through a target point 55 , which is the center of entry boundary 50 in the illustrated cross section.
  • Entry boundary 50 can also be any other shape or configuration, such as a sphere, a cube, a plane, or a curved surface.
  • entry boundary 50 can be a “Pacman-shaped” entry boundary 50 a , as shown in FIG. 16 .
  • the Pacman-shaped entry boundary is formed by cutting out a segment of a pill-shaped entry boundary, as described above, to form an entry boundary 50 a having the cross section shown in FIG. 16 .
  • the entry boundary 50 a is therefore a three-dimensional volume shaped as a pill with a removed segment, such that a cross section of the virtual entry boundary is sector-shaped (i.e., “Pacman-shaped”).
  • Pacman-shaped entry boundary 50 a includes two intersecting haptic walls 52 a .
  • a target line 54 (perpendicular to the page in FIG.
  • FIG. 16 represents the intersection of haptic walls 52 a .
  • Target point 55 is the center of target line 54 .
  • Haptic walls 52 a are an embodiment of the haptic objects 52 described herein, and can therefore constrain movement of a surgical tool 36 by substantially preventing HIP 60 from crossing haptic walls 52 a .
  • Haptic walls 52 allow the Pacman-shaped entry boundary 50 a to create a safe zone in front of the patient's bone.
  • the Pacman-shaped entry boundary 50 a can be used as the entry boundary in any of the embodiments described herein to protect the patient's bone when a surgical tool is approaching the patient.
  • FIG. 16 illustrates virtual tool 47 (which corresponds to surgical tool 36 ) as it makes contact with haptic wall 52 a .
  • the haptic wall 52 a prevents the virtual tool 47 (and thus the surgical tool 36 ) from crossing haptic wall 52 a and approaching the patient's bone.
  • the calculations to reposition and reorient surgical tool 36 may be based on the position of multiple HIPs relative to target line 54 or other reference object, although a distance 58 may still be calculated.
  • the surgical system 100 is able to automatically align the surgical tool 36 from the pose of virtual tool 47 shown in FIG. 5B to the pose of virtual tool 47 shown in FIG. 5C .
  • the haptic control embodiments described herein may (1) automatically modify the position of surgical tool 36 (i.e. reposition), (2) automatically modify the orientation of surgical tool 36 (i.e. reorient), or (3) both automatically reposition and reorient the surgical tool 36 .
  • the phrase “automatic alignment” can refer to any of scenarios (1), (2), or (3), and is a general term for modifying either or both of the position and orientation of the surgical tool 36 . In the embodiment of FIGS.
  • Entry boundary 50 a of FIG. 16 is particularly beneficial if the above-described safety mechanisms are being utilized.
  • the surgeon begins the haptic control processes described herein by guiding surgical tool 36 towards the patient until the surgical tool 36 penetrates an entry boundary.
  • the surgical system 100 then alerts the surgeon that the system is ready to begin automatic alignment.
  • the surgeon may not immediately depress a trigger or perform some other action to enable the system to initiate the automatic alignment mode.
  • the surgical tool 36 remains in free mode, and the surgeon may continue to guide the tool towards the patient.
  • entry boundary 50 a shown in FIG. 16 includes haptic walls 52 a .
  • the surgeon can therefore move surgical tool 36 within the planar working boundary corresponding to haptic object 52 , but is constrained (e.g., prevented) from moving the surgical tool 36 outside of the planar working boundary.
  • the surgeon performs the planned cut during haptic control mode.
  • the virtual tool 47 can move in the x-direction from the position illustrated in FIG. 5C to the position illustrated in FIG. 5D .
  • the virtual tool 47 may also move back and forth in the z-direction in correspondence with movement of surgical tool 36 .
  • planar haptic object 52 restricts HIP 60 (and thus surgical tool 36 ) from movement in the y-direction.
  • FIG. 6B illustrates one embodiment of the shape of haptic object 52 , shown with virtual tool 47 of FIG.
  • FIGS. 7A and 7B illustrate haptic object 52 and offset haptic object 78 .
  • a surgical plan may include an adjustable offset haptic object 78 to take into account characteristics of the surgical tool 36 .
  • Use of offset haptic object 78 during haptic control mode of the haptic device 30 may provide additional accuracy during the surgical procedure by accounting for the dimensions of the surgical tool 36 .
  • the offset haptic object 78 may be translated from haptic object 52 such that distance 80 ( FIG. 7B ) is equivalent to the radius of the spherical burr.
  • the position is modified to bring HIP 60 to the target line 54
  • the orientation is modified to bring tool axis 42 perpendicular to haptic object 52 .
  • the blade 39 of sagittal saw 40 FIG. 2B
  • aligning the tool axis 42 perpendicular to the haptic object 52 causes the blade to lie in the x-y plane during the surgical procedure.
  • Orientation of the tool axis 42 in this embodiment contrasts to the embodiment of FIGS. 5A-5E , in which the tool axis 42 is oriented parallel to haptic object 52 during cutting (e.g., FIG. 5C ).
  • the surgical plan may be developed such that the surgical system 100 will orient the surgical tool 36 in any desired direction relative to haptic object 52 .
  • the desired orientation may depend on the type of surgical tool.
  • the surgical system 100 may orient the surgical tool 36 differently depending on the type of sagittal saw (e.g. sagittal saw 38 or sagittal saw 40 ) or the type of cut to be created.
  • the tool is repositioned but not reoriented during automatic alignment. For example, if the surgical tool 36 is a spherical burr, the surgical system 100 may not need to modify the orientation of the surgical tool 36 to obtain the desired bone modification.
  • FIG. 10 illustrates haptic object 52 and offset haptic object 78 in relation to planned distal cut 84 .
  • the adjustable offset haptic object 78 may be modified depending factors such as the dimensions of surgical tool 36 or other factors related to implementation of the surgical plan.
  • the adjustment of offset haptic object 78 can lead to adjustment of other planned features of the virtual environment, such as entry boundary 50 , target line 54 , target point 55 , and exit boundary 64 .
  • FIGS. 13A-13D illustrate another embodiment of entry into and exit from haptic control.
  • haptic object 52 is a three-dimensional volume.
  • Virtual bone model 45 can represent any bone 44 , such as a femur 4
  • virtual tool 47 can represent any type of surgical tool 36 for performing any type of bone modifications.
  • haptic device 30 is in free mode.
  • the user manipulates surgical tool 36 towards the patient's anatomy.
  • Virtual tool 47 including HIP 60
  • entry boundary 50 is a plane that includes target point 55 (not shown). If HIP 60 is within haptic object 52 and HIP 60 crosses entry boundary 50 , as shown in FIG.
  • FIGS. 13A-13D does not include automatic alignment. In other words, neither the position nor the orientation of surgical tool 36 is modified during haptic control. Consequently, HIP 60 can be freely moved to any position within haptic object 52 , and the orientation of surgical tool 36 is not constrained by a haptic object.
  • the surgeon can freely move surgical tool 36 within the working volume corresponding to haptic object 52 to perform the necessary bone modifications, such as cuts corresponding to planned distal cut 84 , planned posterior chamfer cut 92 , and planned posterior cut 96 .
  • FIG. 13C illustrates virtual tool 47 as the surgeon is creating a cut corresponding to planned posterior cut 96 .
  • the surgical plan associated with haptic object 52 includes an entry boundary 50 and an exit boundary 64 .
  • the surgical system 100 automatically deactivates haptic object 52 to release haptic control.
  • the provision of an exit boundary 64 therefore allows the surgeon greater freedom to release haptic control during surgery.
  • the interaction between activation and deactivation of the entry boundary 50 and exit boundary 64 described herein allows the surgeon to seamlessly and intuitively enter and exit haptic control by manipulating surgical tool 36 , without having to perform separate actions to trigger entry into and exit from haptic control.
  • machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage, other magnetic storage devices, solid state storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor.
  • a network or another communications connection either hardwired, wireless, or a combination of hardwired or wireless
  • any such connection is properly termed a machine-readable medium.
  • Machine-executable instructions include, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
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  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
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  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Surgical Instruments (AREA)
  • User Interface Of Digital Computer (AREA)
US13/725,348 2012-12-21 2012-12-21 Systems and methods for haptic control of a surgical tool Active 2035-06-30 US10398449B2 (en)

Priority Applications (22)

Application Number Priority Date Filing Date Title
US13/725,348 US10398449B2 (en) 2012-12-21 2012-12-21 Systems and methods for haptic control of a surgical tool
CN201910114159.9A CN109567937B (zh) 2012-12-21 2013-12-20 用于外科手术工具的触觉控制的系统和方法
EP13821350.9A EP2941215B1 (de) 2012-12-21 2013-12-20 Systeme zur haptischen steuerung eines chirurgischen werkzeuges
CA2894898A CA2894898A1 (en) 2012-12-21 2013-12-20 Systems and methods for haptic control of a surgical tool
AU2013364141A AU2013364141B2 (en) 2012-12-21 2013-12-20 Systems and methods for haptic control of a surgical tool
CN201380066667.5A CN104918573B (zh) 2012-12-21 2013-12-20 用于外科手术工具的触觉控制的系统和方法
JP2015549814A JP6498609B2 (ja) 2012-12-21 2013-12-20 手術道具の触覚制御のためのシステム及び方法
PCT/US2013/077154 WO2014100697A1 (en) 2012-12-21 2013-12-20 Systems and methods for haptic control of a surgical tool
US14/824,867 US20150342691A1 (en) 2012-12-21 2015-08-12 Systems and methods for haptic control of a surgical tool
US15/611,436 US10595880B2 (en) 2012-12-21 2017-06-01 Systems and methods for haptic control of a surgical tool
JP2018223343A JP6787978B2 (ja) 2012-12-21 2018-11-29 手術道具の触覚制御のためのシステム及び方法
US16/538,154 US11259816B2 (en) 2012-12-21 2019-08-12 Systems and methods for haptic control of a surgical tool
US16/786,146 US11278296B2 (en) 2012-12-21 2020-02-10 Systems and methods for haptic control of a surgical tool
JP2020181563A JP7091419B2 (ja) 2012-12-21 2020-10-29 手術道具の触覚制御のためのシステム及び方法
US17/580,889 US11857200B2 (en) 2012-12-21 2022-01-21 Automated alignment of a surgical tool
US17/666,779 US11857201B2 (en) 2012-12-21 2022-02-08 Surgical system with automated alignment
JP2022096536A JP7397129B2 (ja) 2012-12-21 2022-06-15 手術道具の触覚制御のためのシステム及び方法
US18/512,830 US12150652B2 (en) 2012-12-21 2023-11-17 Surgical guidance with exit boundary
JP2023203015A JP2024020593A (ja) 2012-12-21 2023-11-30 手術道具の触覚制御のためのシステム及び方法
US18/914,732 US20250032126A1 (en) 2012-12-21 2024-10-14 Surgical robotics system with mode switching
US18/958,814 US20250082342A1 (en) 2012-12-21 2024-11-25 Surgical robotics system with automated alignment
JP2025121848A JP2025137680A (ja) 2012-12-21 2025-07-22 手術道具の触覚制御のためのシステム及び方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US13/725,348 US10398449B2 (en) 2012-12-21 2012-12-21 Systems and methods for haptic control of a surgical tool

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US14/824,867 Continuation US20150342691A1 (en) 2012-12-21 2015-08-12 Systems and methods for haptic control of a surgical tool
US16/538,154 Continuation US11259816B2 (en) 2012-12-21 2019-08-12 Systems and methods for haptic control of a surgical tool

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US20140180290A1 US20140180290A1 (en) 2014-06-26
US10398449B2 true US10398449B2 (en) 2019-09-03

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Application Number Title Priority Date Filing Date
US13/725,348 Active 2035-06-30 US10398449B2 (en) 2012-12-21 2012-12-21 Systems and methods for haptic control of a surgical tool
US14/824,867 Abandoned US20150342691A1 (en) 2012-12-21 2015-08-12 Systems and methods for haptic control of a surgical tool
US15/611,436 Active 2033-05-17 US10595880B2 (en) 2012-12-21 2017-06-01 Systems and methods for haptic control of a surgical tool
US16/538,154 Active 2033-09-16 US11259816B2 (en) 2012-12-21 2019-08-12 Systems and methods for haptic control of a surgical tool
US16/786,146 Active 2033-08-03 US11278296B2 (en) 2012-12-21 2020-02-10 Systems and methods for haptic control of a surgical tool
US17/580,889 Active 2033-03-17 US11857200B2 (en) 2012-12-21 2022-01-21 Automated alignment of a surgical tool
US17/666,779 Active 2033-05-02 US11857201B2 (en) 2012-12-21 2022-02-08 Surgical system with automated alignment
US18/512,830 Active US12150652B2 (en) 2012-12-21 2023-11-17 Surgical guidance with exit boundary
US18/914,732 Pending US20250032126A1 (en) 2012-12-21 2024-10-14 Surgical robotics system with mode switching
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US16/538,154 Active 2033-09-16 US11259816B2 (en) 2012-12-21 2019-08-12 Systems and methods for haptic control of a surgical tool
US16/786,146 Active 2033-08-03 US11278296B2 (en) 2012-12-21 2020-02-10 Systems and methods for haptic control of a surgical tool
US17/580,889 Active 2033-03-17 US11857200B2 (en) 2012-12-21 2022-01-21 Automated alignment of a surgical tool
US17/666,779 Active 2033-05-02 US11857201B2 (en) 2012-12-21 2022-02-08 Surgical system with automated alignment
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